The incident happened on frigid Lake Winnipeg in the Matlock area, near Chalet Beach.
RCMP say the pair were inside the truck when the ice beneath broke up.
"Their vehicle did break through," Sgt. Line Karpish told radio station CJOB.
"Both he and his daughter we able to get out safely and did contact police just to let us know from home that they were fine and there were no concerns otherwise."
RCMP are warning fishermen to do research before heading out, because the ice can be thinner in some areas than in others.
Chalet Beach is on the southwestern shore of the lake, about 75 kilometres north of Winnipeg.
Last January, two men in their 50s had to be plucked from Lake Winnipeg when their truck fell through the ice near Beaconia.
One of the men lost his boots in the water and ended up getting severe frost bite as he waited seven hours for rescue.
(CJOB, The Canadian Press)